/*! @file BridgeMessage.h
*   @brief 共享内存的数据类型
*
*/

#ifndef PROJECT_BRIDGEMESSAGE_H
#define PROJECT_BRIDGEMESSAGE_H

#include "SharedMemorySemaphore.h"

/*!
 * The mode for the operation
 */
enum class BridgeMode {
  RUN_CONTROL_PARAMETERS,  // don't run the robot controller, just process
                           // Control Parameters
  RUN_CONTROLLER,          // run the robot controller
  DO_NOTHING,              // just to check connection
  EXIT                     // quit!
};

struct Simulator2RobotMessage {
    RobotType robotType;  // which robot the simulator thinks we are simulating
    
    // imu data
    VectorNavData vectorNav;
}




# endif //PROJECT_BRIDGEMESSAGE_H

